/**
 * @file PostionStuckPlanner.h
 * @author  
 * @brief 位置卡死异常控制设定
 * @version 1.0
 * @date 2021-03-30
 * 
 * @copyright Copyright (c) 2020
 * 
 */

#pragma once

namespace  behavior_controller
{
        class PostionStuckPlanner
        {
        private:
            /* data */
        public:
            PostionStuckPlanner(/* args */){};
            ~PostionStuckPlanner(){};
            void run(double &linear_vel, double &angular_vel);
            void Foword(double &linear_vel, double &angular_vel);
            void Back(double &linear_vel, double &angular_vel);
            void TurnLeft(double &linear_vel, double &angular_vel); 
            void TurnRight(double &linear_vel, double &angular_vel);
            void Stop(double &linear_vel, double &angular_vel);
            double time=0;
            bool finished = true; 

        };
        //static 
        extern PostionStuckPlanner postion_stuck_planner;
}